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how to prevent this insect on my pepper plant
this insect is eating jalapeño pepper plant and my other 3 pepper plants

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It appears that the plant is not thriving. This could be due to a number of reasons, including inadequate light, insufficient watering, or lack of nutrients in the soil. Some tips to improve the health of the plant include providing more light, increasing watering, and adding a balanced fertilizer to the soil. It may also be beneficial to transplant the plant into a larger pot with fresh soil, as it may have outgrown its current container.
Every time I see bugs on my plants, you just whip out the old garden hose and spray them off. This works for most bugs even aphids. If you keep spraying the plant with water hard enough consistently, then the bugs will almost always go away. 
This looks like a praying mantis they eat the bugs on your plant. I would not get rid of it.
U could try neem oil. Add neem oil to your water and the plant will absorb it. It’ll kill anything that bites it’s roots or leaves. The only catch is neem oil is oil. So if you don’t dilute it enough it’ll cook your plants. It won’t affect the taste of plants but add it every time you water it.
The only catch is neem oil has a bad smell. Be prepared. Neem oil also is used for preserving food (idk how) but you could find out through Google.
Neem oil kills a wide variety of insects, including aphids, mealybugs, whiteflies, Japanese beetles, leafhoppers, thrips, fungus gnats, and other garden pests like spider mites and nematodes. Neem oil can also kill fungal diseases like powdery mildew, black spot, scab, anthracnose, and leaf spot.